Simulation of a soft-bodied fluid-driven amoeboid robot that exploits thixotropic flow

Takuya Umedachi, Masakazu Akiyama, Atsushi Tero, Akio Ishiguro

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

This paper presents a two-dimensional simulation model of an amoeboid robot that exhibits locomotion in a decentralized manner. The significant feature to note is that the model does not control friction between parts of the robot and ground explicitly but exploits passive dynamics of the inner fluid of the robot, i.e., thixotropic flow, in order to generate locomotion. Thixotropy is a very interesting rheological property of a fluid to form a gelled structure over time when not subject to shearing and then to liquefy when agitated, which is observed in protoplasmic streaming of amoeba and plasmodium of true slime mold. Simulation results show that embedding this passive dynamics induces morphological positive feedback mechanism, leading to convection of the inner fluid, which in turn generates locomotion without relying on any hierarchical structure. The results obtained are expected to shed new light on revealing the secret of how decentralized control should be designed.

Original languageEnglish
Title of host publication2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Pages5123-5128
Number of pages6
DOIs
Publication statusPublished - Dec 1 2011
Externally publishedYes
Event2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China
Duration: May 9 2011May 13 2011

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2011 IEEE International Conference on Robotics and Automation, ICRA 2011
CountryChina
CityShanghai
Period5/9/115/13/11

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Umedachi, T., Akiyama, M., Tero, A., & Ishiguro, A. (2011). Simulation of a soft-bodied fluid-driven amoeboid robot that exploits thixotropic flow. In 2011 IEEE International Conference on Robotics and Automation, ICRA 2011 (pp. 5123-5128). [5980150] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ICRA.2011.5980150